Shaft for an electro-mechanical surgical device

ABSTRACT

A shaft being, e.g., flexible, that includes an elongated outer sheath, at least one drive shaft disposed within the outer sheath and a ring non-rotatably mounted on the at least one rotatable drive shaft and at least one light source mounted within the shaft, such that, upon rotation of the at least one rotatable drive shaft, the ring alternately blocks and allows light from the light source to be detected. The shaft may also include a moisture sensor disposed within the outer sheath of the shaft and configured to detect moisture within the outer sheath. The shaft may include couplings that connect a distal end of the outer sheath to a surgical attachment and a proximal end of the outer sheath to a remote power console.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.11/495,920, filed Jul. 27, 2006, which claims the benefit of U.S.Provisional Patent Application Ser. No. 60/703,227, filed Jul. 27, 2005,which are expressly incorporated herein in its entirety by referencethereto.

U.S. patent application Ser. No. 11/495,920, filed Jul. 27, 2006, isalso a continuation-in-part of U.S. patent application Ser. No.10/099,634, filed on Mar. 15, 2002, now U.S. Pat. No. 7,951,071, whichis a continuation-in-part of U.S. patent application Ser. No.09/887,789, filed on Jun. 22, 2001, now U.S. Pat. No. 7,032,798, whichis a continuation-in-part of U.S. patent application Ser. No.09/836,781, filed on Apr. 17, 2001, now U.S. Pat. No. 6,981,941, whichis a continuation-in-part of U.S. patent application Ser. No.09/723,715, filed on Nov. 28, 2000, now U.S. Pat. No. 6,793,652, whichis a continuation-in-part of U.S. patent application Ser. No.09/510,923, filed on Feb. 22, 2000, now U.S. Pat. No. 6,517,565, acontinuation-in-part of U.S. patent application Ser. No. 09/510,932,filed on Feb. 22, 2000, now U.S. Pat. No. 6,491,201, acontinuation-in-part of U.S. patent application Ser. No. 09/510,927,filed on Feb. 22, 2000, now U.S. Pat. No. 6,716,233, acontinuation-in-part of U.S. patent application Ser. No. 09/351,534,filed on Jul. 12, 1999, now U.S. Pat. No. 6,264,087, which is acontinuation-in-part of U.S. patent application Ser. No. 09/324,452,filed Jun. 2, 1999, now U.S. Pat. No. 6,443,973, a continuation-in-partof U.S. patent application Ser. No. 09/324,451, filed on Jun. 2, 1999,now U.S. Pat. No. 6,315,184, which are expressly incorporated herein inits entirety by reference thereto.

FIELD OF THE INVENTION

The present invention relates to a shaft, and more particularly, to ashaft for use with an electromechanical surgical device.

BACKGROUND INFORMATION

Various surgical systems are known. For instance, a surgical system mayinclude an electromechanical driver device detachably coupled to asurgical attachment. Such an electromechanical driver device isdescribed in, for example, U.S. patent application Ser. No. 09/723,715,entitled “Electro-Mechanical Surgical Device,” filed on Nov. 28, 2000,now issued as U.S. Pat. No. 6,793,652, U.S. patent application Ser. No.09/836,781, entitled “Electro-Mechanical Surgical Device, filed on Apr.17, 2001, and U.S. patent application Ser. No. 09/887,789, entitled“Electro-Mechanical Surgical Device,” filed on Jun. 22, 2001, each ofwhich is expressly incorporated herein in its entirety by reference.Certain surgical instruments and systems described may suffer numerousdisadvantages, as set forth in additional detail below. Generally,conventional surgical systems may include shafts that provide limitedtorque, may not provide a user to accurately ascertain the positions ofthe operative elements of associated instruments and systems, may notprovide moisture detection capabilities, and may be generallycomplicated and expensive to assemble.

SUMMARY

In an example embodiment of the present invention, a flexible shaft forcoupling a surgical attachment with an electromechanical driver deviceis provided that includes a flexible, elongated outer sheath, the sheathbeing formed from an autoclavable material, and at least one drive shaftdisposed in the outer sheath. In an example embodiment of the presentinvention, the flexible shaft includes a moisture sensor disposed withinthe outer sheath configured to detect moisture within the flexible outersheath. The flexible shaft may also include one or more rotatable driveshafts that are connected to drive shafts of a motor system of theelectromechanical driver device so as to rotate and thereby operate asurgical attachment. Each one of the rotatable drive shafts of theflexible shaft may include a tabbed quadrature ring that alternatelyblocks and allows light from a light source to be conveyed via fiberoptic cables to a controller that is configured to detect and interpretthe light signals received via the fiber optic cables and to determine,e.g., the position and/or direction of a component, e.g., an anvil orcutting blade, of the surgical attachment, e.g., a surgical stapler, inresponse thereto. The flexible shaft may further include additionalchannels for providing irrigation and/or aspiration to a surgical sitevia the flexible shaft.

In an example embodiment of the present invention, a shaft includes: anelongated outer sheath; at least one rotatable drive shaft disposedwithin the outer sheath; a member extending radially from and configuredto rotate with the at least one rotatable drive shaft; and at least onelight source mounted within the outer sheath, wherein, upon rotation ofthe at least one rotatable drive shaft, the member alternately blocksand allows light from the light source to be detected. The member may bea tab, e.g., or two tabs that extend from a quadrature ring mounted onthe at least one rotatable drive shaft. Also, there may be provided twolight sources mounted at a distal end of the shaft, for example, mountedabout 90 degrees from to each other relative to an axis of the at leastone rotatable drive shaft.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an electromechanical surgical deviceaccording to an example embodiment of the present invention.

FIG. 2 is a perspective view of the flexible shaft according to anexample embodiment of the present invention.

FIG. 3(a) is a side view that illustrates the flexible shaft illustratedin FIG. 2.

FIG. 3(b) is a bottom view that illustrates, partially in section, theflexible shaft taken along the lines 3B-3B shown in FIG. 3(a).

FIG. 3(c) is a top view that illustrates, partially in section, theflexible shaft along the lines 3C-3C shown in FIG. 3(a).

FIG. 4(a) is an enlarged sectional view of a second coupling, asassembled, according to an example embodiment of the present invention.

FIG. 4(b) is a front perspective view of the second coupling, accordingto an example embodiment of the present invention, exploded so as toillustrate some of the components thereof.

FIG. 4(c) is a rear perspective view of the second coupling shown inFIG. 4(b), partially assembled, showing some additional featuresthereof.

FIGS. 4(d) and 4(e) are front and rear perspective views, respectively,of the distal contact assembly, according to an example embodiment ofthe present invention, as assembled.

FIG. 4(f) is a rear perspective view of the distal contact assembly,exploded so as to illustrate some of the components thereof.

FIG. 4(g) is a frontal view of the distal sensor assembly, according toan example embodiment of the present invention, as assembled.

FIG. 4(h) is a schematic representation of a moisture sensor coupled toa data transfer cable.

FIG. 5(a) is an enlarged sectional view of the first coupling, asassembled, according to an example embodiment of the present invention.

FIG. 5(b) is a front perspective view of the first coupling, accordingto an example embodiment of the present invention, exploded so as toillustrate some of the components thereof.

FIG. 6 is a side elevational view, partially in section, of a flexibleshaft of the electromechanical surgical device illustrated in FIG. 1.

FIG. 7 is a cross-sectional view of the flexible shaft taken along theline 7-7 shown in FIG. 6.

FIG. 8 is a rear end view of a first coupling of the flexible shaftillustrated in FIG. 2.

FIG. 9 is a front end view of a second coupling of the flexible shaftillustrated in FIG. 2.

FIG. 10 is a schematic view illustrating a motor arrangement of theelectromechanical surgical device illustrated in FIG. 1.

FIG. 11 is a schematic view of the electromechanical surgical deviceillustrated in FIG. 1.

FIG. 12 is a schematic view of a quadrature ring arrangement of theflexible shaft illustrated in FIG. 4(b).

FIG. 13 is a schematic view of a memory device of a surgical attachmentand/or the flexible shaft.

FIG. 14 is a schematic view of a wireless remote control unit of theelectromechanical surgical device illustrated in FIG. 1.

FIG. 15 is a schematic view of a wired remote control unit of theelectromechanical surgical device illustrated in FIG. 1.

DETAILED DESCRIPTION

Referring to FIG. 1, there is seen a perspective view of anelectromechanical surgical device 10 according to an example embodimentof the present invention. The electromechanical surgical device 10 mayinclude, for example, a remote power console 12, which includes ahousing 14 having a front panel 15. Mounted on the front panel 15 are adisplay device 16 and indicators 18 a, 18 b, which are more fullydescribed hereinbelow. A shaft 20 may extend from the housing 14 and maybe detachably secured thereto via a first coupling 22. The shaft 20 maybe flexible, rigid, articulable, articulatable, etc. Although the shaft20 is referred to below as a flexible shaft 20, it should be understoodthat reference to a flexible shaft 20 is merely one example embodimentof the shaft 20 and that the shaft 20 is in no way limited to a flexiblearrangement. The distal end 24 of the flexible shaft 20 may include asecond coupling 26 adapted to detachably secure a surgical instrument orattachment to the distal end 24 of the flexible shaft 20. The surgicalinstrument or attachment may be, for example, a surgical stapler, asurgical cutter, a surgical stapler-cutter, a linear surgical stapler, alinear surgical stapler-cutter, a circular surgical stapler, a circularsurgical stapler-cutter, a surgical clip applier, a surgical clipligator, a surgical clamping device, a vessel expanding device, a lumenexpanding device, a scalpel, a fluid delivery device or any other typeof surgical instrument. Such surgical instruments are described, forexample, in U.S. patent application Ser. No. 09/324,451, entitled “AStapling Device for Use with an Electromechanical Driver Device for Usewith Anastomosing, Stapling, and Resecting Instruments,” now issued asU.S. Pat. No. 6,315,184, U.S. patent application Ser. No. 09/324,452,entitled “Electromechanical Driver Device for Use with Anastomosing,Stapling, and Resecting Instruments,” now issued as U.S. Pat. No.6,443,973, U.S. patent application Ser. No. 09/351,534, entitled“Automated Surgical Stapling System,” now issued as U.S. Pat. No.6,264,087, U.S. patent application Ser. No. 09/510,926, entitled “AVessel and Lumen Expander Attachment for Use with an ElectromechanicalDriver Device,” now issued as U.S. Pat. No. 6,378,061, U.S. patentapplication Ser. No. 09/510,927, entitled “Electromechanical Driver andRemote Surgical Instruments Attachment Having Computer Assisted ControlCapabilities,” now issued as U.S. Pat. No. 6,716,233, U.S. patentapplication Ser. No. 09/510,931, entitled “A Tissue Stapling Attachmentfor Use with an Electromechanical Driver Device,” now issued as U.S.Pat. No. 6,533,157, U.S. patent application Ser. No. 09/510,932,entitled “A Fluid Delivery Mechanism for Use with Anastomosing,Stapling, and Resecting Instruments,” now issued as U.S. Pat. No.6,491,201, and U.S. patent application Ser. No. 09/510,933, entitled “AFluid Delivery Device for Use with Anastomosing, Stapling, and ResectingInstruments,” now issued as U.S. Pat. No. 6,488,197, each of which isexpressly incorporated herein in its entirety by reference thereto.

FIG. 2 is a perspective view of the flexible shaft 20. It should berecognized that, while the flexible shaft 20 is illustrated anddescribed herein as being detachably coupled to the remote power console12, in other example embodiments, the flexible shaft 20 may bepermanently coupled to or integral with the remote power console 12.Other aspects and features of the flexible shaft 20 are set forth belowin connection with FIGS. 3(a)-15.

FIG. 3(a) is a side view that illustrates the flexible shaft 20.According to an example embodiment, the flexible shaft 20 includes atubular sheath 28, which may include a coating or other sealingarrangement to provide a fluid-tight seal between an interior channel 40thereof and the environment. The sheath 28 may be formed of atissue-compatible, sterilizable elastomeric material. The sheath 28 mayalso be formed of a material that is autoclavable. The sheath 28 may beformed of a material having a high or relatively high lubricity. Forexample, the sheath 28 may include Teflon™ (i.e., a fluoropolymer, e.g.,polytetrafluoroethylene—“PTFE”), silicone, a Teflon™/siliconecombination, such as, for example, SIL-KORE™ (made by W.L. Gore &Associates).

FIG. 3(b) is a bottom view that illustrates, partially in section, theflexible shaft 20 taken along the lines 3B-3B shown in FIG. 3(a). FIG.3(b) illustrates in section the proximal end of the flexible shaft 20and the first coupling 22. Other aspects and features of the firstcoupling 22 of the flexible shaft 20 are set forth below in connectionwith FIGS. 5(a), 5(b) and 8.

FIG. 3(c) is a top view that illustrates, partially in section, theflexible shaft 20 taken along the lines 3C-3C shown in FIG. 3(a). FIG.3(c) illustrates in section the distal end of the flexible shaft 20 andthe second coupling 26. Other aspects and features of the secondcoupling 26 of the flexible shaft 20 are set forth below in connectionwith FIGS. 4(a)-4(h) and 9.

FIG. 4(a) is an enlarged sectional view of the second coupling 26, asassembled, according to an example embodiment of the present invention.FIG. 4(b) is a front perspective view of the second coupling 26,according to an example embodiment of the present invention, exploded soas to illustrate some of the components thereof. FIG. 4(b) shows adistal assembly 2231. Disposed within the distal assembly 2231 are firstends of two distal cable end assemblies 2078. Second ends of each one ofthe distal cable end assemblies 2078 are disposed within respectivebores of a distal connector assembly 2066. Referring to each one of thedistal cable end assemblies 2078, there is provided a distal cable end2082. First ends of the distal cable ends 2082 have longitudinallydisposed bores that function as connectors 66 and 68, respectively,which are described in greater detail below. The distal-most face of thedistal assembly 2231 provides access to the connectors 66, 68 viaopenings, along with a connector 70 and openings 101 b and 102 b forproviding access to irrigations and aspiration channels 101 and 102,respectively, as discussed further below. Mounted at approximately amidpoint along the outer surface of the distal cable end 2082 is a tipbearing 330. A second end of the distal cable end 2082 engages a distalquadrature ring 2080. Connected to each one of the distal quadraturerings 2080 is a respective drive cable 30, 32 (described in furtherdetail below in connection with FIG. 6), which is surrounded by a sleeve377, made from, e.g., Teflon™. Each drive cable 30, 32 extends withinand along the length of the flexible shaft 20.

FIG. 4(c) is a rear perspective view of the second coupling 26 shown inFIG. 4(b), partially assembled, showing some additional featuresthereof. As shown in FIG. 4(c), the distal cable end assemblies 2078engage respective bores of a distal optical block 2085. The distaloptical block 2085 is connected to a distal press block 2069, in whichare disposed the tip bearings 330. Mounted distal relative to the tipbearings 330 are respective seals 764. The distal end of the distalpress block 2069 is connected to distal outer case 2237. Mounted withinthe distal press block 2069 is a distal contact assembly 2073, which ishidden from view in FIG. 4(c) but which is illustrated in FIGS. 4(d)through 4(f). Also mounted within the distal press block 2069 is adistal sensor assembly 2233, which is hidden from view in FIG. 4(c) butwhich is illustrated in FIG. 4(g).

FIGS. 4(d) and 4(e) are front and rear perspective views, respectively,of the distal contact assembly 2073, according to an example embodimentof the present invention, as assembled. FIG. 4(f) is a rear perspectiveview of the distal contact assembly 2073, exploded so as to illustratesome of the components thereof. Referring to FIG. 4(f), the distalcontact assembly 2073 includes a distal PCB 2232 having a number ofbores therethrough. Mounted on the proximal side of the distal PCB 2232are two light emitting diodes 379. Mounted on the distal side of thedistal PCB 2232 is an insulator 2084 having bores that coincidegenerally with the bores in the distal PCB 2232. Extending through thebores of the insulator 2084 and the distal PCB 2232 are five sockets 214that are disposed within a contact jacket 2238. The distal end of thecontact jacket 2238 is capped by a contact insulator block 2189.

FIG. 4(g) is a frontal view of the distal sensor assembly 2233,according to an example embodiment of the present invention, asassembled. The distal sensor assembly 2233 includes a distal sensor PCB2234 having a pair of bores therein. In addition, the distal sensorassembly 2233 has mounted thereon four sensors 217, e.g.,phototransistors.

Referring back to FIG. 4(a), there is shown all of the variouscomponents of the second coupling 26 assembled, in section. FIG. 4(a)also illustrates a moisture sensor 990 mounted within the secondcoupling 26. Additional details of the moisture sensor 990 are shown inFIG. 4(h). Referring to FIG. 4(h), the moisture sensor 990 is coupled tothe data transfer cable 38 to communicate an indication of the presenceof moisture (e.g., sensed moisture data is communicated) to the remotepower console 12. The presence of moisture within the flexible shaft 20may cause corrosion of the components of the flexible shaft 20, such as,for example, the rotatable drive shafts 30, 32, electronic or electricalcomponents arranged in the flexible shaft 20, etc. In accordance withand/or based on the sensed moisture data, the remote power console 12may communicate the presence of moisture to a user, such as, forexample, by audible or visual signal. The moisture sensor 990 mayinclude a first printed lead 995 and a second printed lead 996, each ofwhich is printed on board element 997 and connected to the data transfercable 38. The presence of moisture may change the electricalconductivity between the printed leads 995, 996, e.g., the electricalresistance between the printed leads 995, 996 may vary in accordancewith the amount of moisture present. It should be appreciated that amoisture sensor 990 may additionally or alternatively be disposed withinthe elongated sheath of the flexible shaft 20, and coupled to, e.g.,data transfer cable 38.

FIG. 5(a) is an enlarged sectional view of the first coupling 22, asassembled, according to an example embodiment of the present invention.FIG. 5(b) is a front perspective view of the first coupling 22,according to an embodiment of the present invention, exploded so as toillustrate some of the components thereof. As shown in FIG. 5(b), thefirst coupling 22 includes a proximal assembly 2095. The proximalassembly 2095 includes a data connector 60. Disposed within the proximalassembly 2095 and mounted to the interior surface at the proximal end ofthe proximal assembly 2095 is a proximal PCB assembly 2030. Passingthrough cut-away regions of the proximal PCB assembly 2030 andcommunicating with bores in the proximal end of the proximal assembly2095 are proximal drive shafts 2102. The proximal drive shafts 2102 haveat their proximal ends non-circular, e.g., hexagonal, drive connectors44, 48 for engaging respective drive shafts of a motor arrangementwithin the remote power console 12, as set forth in greater detailbelow. The distal ends of the proximal drive shafts 2102 engage proximalcrimps 2071, that connect the distal ends of the proximal drive shafts2102, e.g., non-rotatably, to proximal ends of drive cables 30, 32 thatextend within the flexible shaft 20. The drive cables 30, 32 connect,e.g., non-rotatably, at their opposite ends to the distal cable endassemblies 2078 located within the first coupling 22, as previouslymentioned.

FIG. 6 is a side elevational view, partially in section, of the flexibleshaft 20, according to an example embodiment of the present invention.Disposed within the flexible shaft 20, and extending along the entirelength thereof, may be a first rotatable drive shaft 30, and a secondrotatable drive shaft 32. In addition, according to various exampleembodiments of the present invention, disposed within the flexible shaft20 may be steering cables 34, 35, 36 and 37, a data transfer cable 38, afiber optic cable set 39, irrigation channel 101 and aspiration channel102. It should be noted that channels, such as 101, 102 may be used forother purposes other than irrigating and/or aspirating a surgical site,e.g., they may be employed for passing a surgical instrumenttherethrough. Furthermore, it should be noted that, while the fiberoptic cable set 39 is illustrated as being a single bundle of fiberoptic cables, in other exemplary embodiments, the fiber optic cables maybe separately arranged. Any number of fiber optic cables may beemployed, as set forth below. FIG. 7 is a cross-sectional view of theflexible shaft 20 taken along the line 7-7 shown in FIG. 6 and furtherillustrates the several cables 30, 32, 34-39 and channels 101, 102. Eachof the several cables 30, 32, 34-39 may be contained within a respectivesheath.

The first rotatable drive shaft 30 and the second rotatable drive shaft32 may be configured, for example, as highly flexible drive shafts, suchas, for example, braided or helical drive cables. It should beunderstood that such highly flexible drive cables may have limitedtorque transmission characteristics and capabilities. It should also beunderstood that surgical instruments, such as surgical staplerattachment or the like, or other attachments detachably attachable tothe flexible shaft 20 may require a higher torque input than the torquetransmittable by the drive shafts 30, 32. The drive shafts 30, 32 maythus be configured to transmit low torque but high speed, the highspeed/low torque being converted to low speed/high torque by gearingarrangements disposed, for example, at the distal end and/or theproximal end of the flexible shaft 20, in the surgical instrument orattachment and/or in the remote power console 12. It should beappreciated that such gearing arrangement(s) may be provided at anysuitable location along the power train between the motors disposed inthe housing 14 and the attached surgical instrument or other attachmentdetachably attachable to the flexible shaft 20. Such gearingarrangement(s) may be provided in the surgical instrument or otherattachment detachably attachable to the flexible shaft 20. Such gearingarrangement(s) may include, for example, a spur gear arrangement, aplanetary gear arrangement, a harmonic gear arrangement, cycloidal drivearrangement, an epicyclic gear arrangement, etc.

Referring now to FIG. 8, there is seen a schematic representation of arear end view of the first coupling 22. The first coupling 22 includes afirst connector 44 and a second connector 48, each rotatably arrangedwith respect to the first coupling 22. Each of the connectors 44, 48,includes a respective projection 46, 50 that may extend through theproximal-most face of the first coupling 22. As shown in FIG. 8, eachprojection 46, 50 may be hexagonally shaped. It should be appreciated,however, that the projections 46, 50 may have any shape andconfiguration to non-rotatably couple and rigidly attach the connectors44, 48 to respective drive shafts of the motor arrangement containedwithin the housing 12, as more fully described below. It should beappreciated that complementary recesses may be provided on respectivedrive shafts of the motor arrangement to thereby drive the driveelements of the flexible shaft 20 as described below. It should also beappreciated that the projection may be provided on the drive shafts andcomplementary recesses may be provided on the connectors 44, 48. Anyother coupling arrangement configured to non-rotatably and releasablycouple the connectors 44, 48 and the drive shafts of the motorarrangement may be provided.

One of the connectors 44, 48 is non-rotatably secured to the first driveshaft 30, and another one of the connectors 44, 48 is non-rotatablysecured to the second drive shaft 32. The remaining two of theconnectors 44, 48, 52, 56 engage with transmission elements configuredto apply tensile forces on the steering cables 34, 35, 36, 37 to therebysteer the distal end 24 of the flexible shaft 20. The first coupling 22may include the openings 101 a, 102 a connected to the irrigation andaspiration channels 101, 102, respectively, for introducing and/orremoving fluids from the surgical site.

The data transfer cable 38 is electrically and logically connected withthe data connector 60. The data connector 60 includes, for example,electrical contacts 62, corresponding to and equal in number to thenumber of individual wires contained in the data cable 38. The firstcoupling 22 includes a key structure 42 to properly orient the firstcoupling 22 to a mating and complementary coupling arrangement disposedon the housing 12. Such key structure 42 may be provided on either one,or both, of the first coupling 22 and the mating and complementarycoupling arrangement disposed on the housing 12. The first coupling 22may include a quick-connect type connector, which may use, for example,a simple pushing motion to engage the first coupling 22 to the housing12. Seals may be provided in conjunction with any of the severalconnectors 44, 48, 60 to provide a fluid-tight seal between the interiorof the first coupling 22 and the environment.

Referring now to FIG. 9, there is seen a schematic representation of afront end view of the second coupling 26 of the flexible shaft 20. Thesecond coupling 26 includes a first connector 66 and a second connector68, each being rotatably arranged with respect to the second coupling 26and each being non-rotatably secured to a distal end of a respective oneof the first and second drive shafts 30, 32. A quick-connect typefitting 64 may be provided on the second coupling 26 for detachablysecuring the surgical instrument or attachment thereto. Thequick-connect type fitting 64 may be, for example, a rotaryquick-connect type fitting, a bayonet type fitting, etc. A key structure74 may be provided on the second coupling 26 for properly aligning thesurgical instrument or attachment to the second coupling 26. The keystructure 74 or other arrangement for properly aligning the surgicalinstrument or attachment to the flexible shaft 20 may be provided oneither one, or both, of the second coupling 26 and the surgicalinstrument or attachment. In addition, the quick-connect type fittingmay be provided on the surgical instrument or attachment. A dataconnector 70, having electrical contacts 72, is also provided in thesecond coupling 26. Like the data connector 60 of the first coupling 22,the data connector 70 of the second coupling 26 includes the contacts 72electrically and logically connected to the respective wires of the datatransfer cable 38 and the contacts 62 of the data connector 60. Sealsmay be provided in conjunction with the connectors 66, 68, 70 to providea fluid-tight seal between the interior of the second coupling 26 andthe environment. The second coupling 26 may include the openings 101 b,102 b connected to the irrigation and aspiration channels 101, 102,respectively, for introducing and/or removing fluids from the surgicalsite.

Disposed within housing 14 of the remote power console 12 areelectromechanical driver elements configured to drive the drive shafts30, 32 to thereby operate the electromechanical surgical device 10 andthe surgical instrument or attachment attached to the second coupling26. In the example embodiment illustrated schematically in FIG. 10, fiveelectric motors 76, 80, 84, 90, 96, each operating via a power source,may be disposed in the remote power console 12. It should beappreciated, however, that any appropriate number of motors may beprovided, and the motors may operate via battery power, line current, aDC power supply, an electronically controlled DC power supply, etc. Itshould also be appreciated that the motors may be connected to a DCpower supply, which is in turn connected to line current and whichsupplies the operating current to the motors.

FIG. 10 illustrates schematically one possible arrangement of motors. Anoutput shaft 78 of a first motor 76 engages with the first connector 44of the first coupling 22 when the first coupling 22, and, therefore, theflexible shaft 20, is engaged with the housing 14 to thereby drive thefirst drive shaft 30 and the first connector 66 of the second coupling26. Similarly, an output shaft 82 of a second motor 80 engages thesecond connector 48 of the first coupling 22 when the first coupling 22,and, therefore, the flexible shaft 20 is engaged with the housing 14 tothereby drive the second drive shaft 32 and the second connector 68 ofsecond coupling 26.

As set forth above, the flexible shaft 20 may include steering cables,such as steering cables 34, 35, 36 and 37 that may be employed to steerthe flexible shaft 20. FIG. 10 also illustrates a motor arrangement thatmay be employed to utilize such steering cables in those exampleembodiments of the flexible shaft 20 that include same. For example,FIG. 10 illustrates that an output shaft 86 of a third motor 84 engagesthe third connector 52 of the first coupling 22 when the first coupling22, and, therefore, the flexible shaft 20, is engaged with the housing14 to thereby drive the first and second steering cables 34, 35 via afirst pulley arrangement 88. An output shaft 92 of a fourth motor 90engages the fourth connector 56 of the first coupling 22 when the firstcoupling 22, and, therefore, the flexible shaft 20, is engaged with thehousing 14 to thereby drive the third and fourth steering cables 36, 37via a second pulley arrangement 94. The third and fourth motors 84, 90may be secured on a carriage 100, which is selectively movable via anoutput shaft 98 of a fifth motor 96 between a first position and asecond position to selectively engage and disengage the third and fourthmotors 84, 90 with the respective pulley arrangement 88, 94 to therebypermit the flexible shaft 20 to become taut and steerable or limp asnecessary. It should be appreciated that other mechanical, electrical orelectro-mechanical mechanisms may be used to selectively engage anddisengage the steering mechanism. The motors may be arranged andconfigured as described, for example, in U.S. patent application Ser.No. 09/510,923, entitled “A Carriage Assembly for Controlling a SteeringWire Mechanism Within a Flexible Shaft,” now issued as U.S. Pat. No.6,715,565, which is expressly incorporated herein in its entirety byreference thereto.

It should be appreciated, that any one or more of the motors 76, 80, 84,90, 96 may be high-speed/low-torque motors or low-speed/high-torquemotors. As indicated above, the first rotatable drive shaft 30 and thesecond rotatable drive shaft 32 may be configured to transmit high speedand low torque. Thus, the first motor 76 and the second motor 80 may beconfigured as high-speed/low-torque motors. Alternatively, the firstmotor 76 and the second motor 80 may be configured aslow-speed/high-torque motors with a torque-reducing/speed-increasinggear arrangement disposed between the first motor 76 and the secondmotor 80 and a respective one of the first rotatable drive shaft 30 andthe second rotatable drive shaft 32. Suchtorque-reducing/speed-increasing gear arrangement may include, forexample, a spur gear arrangement, a planetary gear arrangement, aharmonic gear arrangement, cycloidal drive arrangement, an epicyclicgear arrangement, etc. It should be appreciated that any such geararrangement may be disposed within the remote power console 12 or in theproximal end of the flexible shaft 20, such as, for example, in thefirst coupling 22. It should be appreciated that the gear arrangement(s)are provided at the distal and/or proximal ends of the first rotatabledrive shaft 30 and/or the second rotatable drive shaft 32 to preventwindup and breakage thereof.

Referring now to FIG. 11, there is seen a schematic view of theelectromechanical surgical device 10. A controller 122 is provided inthe housing 14 of remote power console 12 and is configured to controlall functions and operations of the electromechanical surgical device 10and any surgical instrument or attachment attached to the flexible shaft20. A memory unit 130 is provided and may include memory devices, suchas, a ROM component 132 and/or a RAM component 134. The ROM component132 is in electrical and logical communication with the controller 122via a line 136, and the RAM component 134 is in electrical and logicalcommunication with the controller 122 via a line 138. The RAM component134 may include any type of random-access memory, such as, for example,a magnetic memory device, an optical memory device, a magneto-opticalmemory device, an electronic memory device, etc. Similarly, the ROMcomponent 132 may include any type of read-only memory, such as, forexample, a removable memory device, such as a PC-Card or PCMCIA-typedevice. It should be appreciated that the ROM component 132 and the RAMcomponent 134 may be arranged as a single unit or may be separate unitsand that the ROM component 132 and/or the RAM component 134 may beprovided in the form of a PC-Card or PCMCIA-type device. The controller122 is further connected to the front panel 15 of the housing 14 and,more particularly, to the display device 16 via a line 154 and theindicators 18 a, 18 b via respective lines 156, 158. The lines 116, 118,124, 126, 128 electrically and logically connect the controller 122 tothe first, second, third, fourth and fifth motors 76, 80, 84, 90, 96,respectively. A wired remote control unit (“RCU”) 150 is electricallyand logically connected to the controller 122 via a line 152. A wirelessRCU 148 is also provided and communicates via a wireless link 160 with areceiving/sending unit 146 connected via the line 144 to a transceiver140. The transceiver 140 is electrically and logically connected to thecontroller 122 via a line 142. The wireless link 160 may be, forexample, an optical link, such as an infrared link, a radio link or anyother form of wireless communication link.

A switch device 186, which may be, for example, an array of DIPswitches, may be connected to the controller 122 via a line 188. Theswitch device 186 may be used, for example, to select one of a pluralityof languages used in displaying messages and prompts on the displaydevice 16. The messages and prompts may relate to, for example, theoperation and/or the status of the electromechanical surgical device 10and/or to any surgical instrument or attachment attached thereto.

According to the example embodiment of the present invention, each oneof the quadrature rings 2080 is provided within the second coupling 26and is configured to output a signal in response to and in accordancewith the rotation of a respective one of the first and second driveshafts 30, 32. The signal output by each of the quadrature rings 2080may represent the rotational position of the respective drive shaft 30,32 as well as the rotational direction thereof. Although the quadraturerings 2080 are described as being disposed within the second coupling26, it should be appreciated that the quadrature rings 2080 may beprovided at any location between the motor system and the surgicalinstrument or attachment. It should be appreciated that providing thequadrature rings 2080 within the second coupling 26 or at the distal endof the flexible shaft 20 provides for an accurate determination of thedrive shaft rotation. If the quadrature rings 2080 are disposed at theproximal end of the flexible shaft 20, windup of the first and secondrotatable drive shafts 30, 32 may result in measurement error.

FIG. 12 is a schematic view of a quadrature ring 2080 arrangement.Mounted non-rotatably on one of the drive shafts 30, 32 is thequadrature ring 2080 having a first tab 20801 and a second tab 20802.The quadrature ring 2080 arrangement further includes the first andsecond light sources 217, e.g., light-emitting diodes, phototransistor,etc., which are disposed approximately 90° apart relative to thelongitudinal, or rotational, axis of drive shaft 30, 32. In addition,the quadrature ring 2080 arrangements may include the fiber optic cableset 39, e.g., for transmitting light along the length of the flexibleshaft 20 between the light sources 217 and the remote power console 12.The first and second tabs 20801 and 20802 of the quadrature rings 2080are configured to alternately block and allow light emitted from thelight sources 217 to reach the remote power console 217 via the fiberoptic cables. It should be appreciated that, while the quadrature ring2080 is described and shown herein as being a separate structure that ismounted onto respective rotatable drive shafts 30, 32, any member thatrotate along with the rotatable drive shafts 30, 32 and that perform thefunctions of separate quadrature rings 2080 may be employed, e.g., therotatable drive shafts 30, 32 themselves may instead have integralstructures, e.g., tabs. Based on the receipt by the remote power console12 of the light emitted from the respective light sources 217, theangular position of the drive shaft 30, 32 may be determined withinone-quarter revolution and the direction of rotation of the drive shaft30, 32 may be determined. The output of each quadrature ring 2080 istransmitted to the controller 122. The controller 122, by tracking theangular position and rotational direction of the drive shafts 30, 32based on the output signal from the quadrature rings 2080, can therebydetermine the position and/or state of the components of the surgicalinstrument or attachment connected to the electromechanical surgicaldevice 10. That is, by counting the revolutions of the drive shaft 30,32, the controller 122 can determine the position and/or state of thecomponents of the surgical instrument or attachment connected to theelectromechanical surgical device 10. It should be appreciated that anynumber of tabs may be provided depending on the desired resolution ofangular movement.

For example, the second coupling 26 of the flexible shaft 20 maydetachably attach to a surgical stapler attachment thereto, the surgicalstapler attachment including an anvil stem that is extended andretracted to clamp a section of tissue against an anvil, and furtherincluding a staple driver/cutter that cuts the section of tissue anddrives a set of staples against the anvil for stapling the section oftissue. The extension and retraction of the anvil may be effected by theoperation of the first motor 76, and the extension and retraction of thestaple driver/cutter may be effected by the operation of the secondmotor 80. The pitch of a drive shaft for driving the anvil and the pitchof the drive shaft for driving the stapler driver/cutter drive shaft maybe predetermined and known quantities, such that the advancementdistance of the anvil and of the staple driver/cutter may be functionsof, and ascertainable on the basis of, the rotation of the respectivedrive shaft 30, 32. By ascertaining an absolute position of the anviland the staple driver/cutter at a point in time, the relativedisplacement of the anvil and staple driver/cutter, based on the outputsignal from the respective quadrature rings 2080 and the known pitchesof the anvil drive shaft and staple driver/cutter drive shaft, may beused to ascertain the absolute position of the anvil and stapledriver/cutter at all times thereafter. The absolute position of theanvil and staple driver/cutter may be fixed and ascertained at the timethat the circular surgical stapler attachment is first coupled to theflexible shaft 20. Alternatively, the position of the anvil and thestaple driver/cutter relative to, for example, a separate component ofthe surgical stapler attachment may be determined based on the outputsignal from the quadrature rings 2080.

Referring again to FIG. 11, the surgical stapler attachment and theflexible shaft 20 may include memory units 174, 850, respectively,electrically and logically connected via data cables within the flexibleshaft 20 to the controller 122. The memory units 174, 850 may be in theform of, for example, an EEPROM, EPROM, etc. FIG. 13 schematicallyillustrates the memory unit 174, according to an example embodiment ofthe present invention. The memory unit 850 may have a similararrangement as shown in FIG. 13. As seen in FIG. 13, a data connector272 includes contacts 276, each electrically and logically connected tothe memory unit 174 via a respective line 278. The memory unit 174 isconfigured to store, for example, a serial number data 180, anattachment type identifier (ID) data 182 and a usage data 184. Thememory unit 174 may additionally store other data. Both the serialnumber data 180 and the ID data 182 may be configured as read-only data.In the example embodiment, the serial number data 180 is data uniquelyidentifying the particular surgical instrument or attachment, whereasthe ID data 182 is data identifying the type of the attachment, such as,for example, a circular surgical stapler attachment, a linear surgicalstapler attachment, etc. The usage data 184 represents usage of theparticular attachment, such as, for example, the number of times ananvil of a surgical stapler attachment connected via the flexible shaft20 has been advanced or the number of times that the stapledriver/cutter of the circular surgical stapler attachment has beenadvanced or fired.

It should be appreciated that each type of surgical instrument orattachment attachable to the distal end 24 of the flexible shaft 20 maybe designed and configured to be used a single time or multiple times.The surgical instrument or attachment may also be designed andconfigured to be used a predetermined number of times. Accordingly, theusage data 184 may be used to determine whether the surgical instrumentor attachment has been used and whether the number of uses has exceededthe maximum number of permitted uses. As more fully described below, anattempt to use a surgical instrument or attachment after the maximumnumber of permitted uses has been reached will generate an ERRORcondition.

It should be appreciated that the discussion hereinabove of anyparticular surgical attachment, e.g., a circular surgical staplerattachment, is intended to be merely an example of a surgical attachmentthat may be used in conjunction with the flexible shaft 20. It should befurther appreciated that any other type of surgical instrument orattachment, such as those enumerated hereinabove, may be used inconjunction with the flexible shaft 20. Regardless of the particulartype of surgical instrument or attachment, in the example embodiment ofthe present invention, the surgical instrument or attachment may includea coupling element, as may be necessary for proper operation of thesurgical instrument or attachment, as well as the memory unit 174.Although the drive shafts and motors are described herein as effectingparticular functions of a circular surgical stapler attachment, itshould be appreciated that the drive shafts and motors may effect thesame or other functions of other types of surgical instruments orattachments.

Referring again to FIG. 11, in accordance with the example embodiment ofthe present invention, the controller 122 is configured to read the IDdata 182 from the memory unit 174 of the surgical instrument orattachment when the surgical instrument or attachment is initiallyconnected to the flexible shaft 20, and the controller 122 is configuredto read the ID data 880 from the memory unit 850 of the flexible shaft20. The memory units 174, 850 may be electrically and logicallyconnected in parallel to the controller 122 via line 120 of datatransfer cable 38 or, alternatively, may be connected to the controller122 via respective dedicated lines.

Based on the read usage data 870 of the flexible shaft 20, thecontroller 122 may prevent the surgical device 10 from driving theflexible shaft 20. As described above, a particular flexible shaft 20may be designed and configured to be used a single time, multiple times,or a predetermined number of times. Accordingly, the usage data 870 maybe read by the controller 122 to determine whether the flexible shaft 20has been used and whether the number of uses has exceeded a maximumnumber of permitted uses. If the maximum number of uses has beenexceeded, the controller 122 may prevent subsequent attempts to use theflexible shaft 20.

Additionally, the controller 122 may write the usage data 870 to thememory unit 850 of the flexible shaft 20. The written usage data 870 mayinclude information relating to, for example, a number of revolutions ofone or both rotatable drive shafts 30, 32, a number of uses of one orboth rotatable drive shafts 30, 32, a number of firings of one or bothrotatable drive shafts 30, 32, and/or the number of times the flexibleshaft 20 has been used, etc. It should be appreciated that the writtenusage data 870 may include information in any form suitable to indicatea change in any condition of the flexible shaft 20 that may relate, forexample, to usage.

Based on the read ID data 182, the controller 122 is configured to reador select from the memory unit 130, an operating program or algorithmcorresponding to the type of surgical instrument or attachment connectedto the flexible shaft 20. The memory unit 130 is configured to store theoperating programs or algorithms for each available type of surgicalinstrument or attachment, the controller 122 selecting and/or readingthe operating program or algorithm from the memory unit 130 inaccordance with the ID data 182 read from the memory unit 174 of anattached surgical instrument or attachment. As indicated above, thememory unit 130 may include a removable ROM component 132 and/or RAMcomponent 134. Thus, the operating programs or algorithms stored in thememory unit 130 may be updated, added, deleted, improved or otherwiserevised as necessary. The operating programs or algorithms stored in thememory unit 130 may be customizable based on, for example, specializedneeds of the user. A data entry device, such as, for example, akeyboard, a mouse, a pointing device, a touch screen, etc., may beconnected to the memory unit 130 via, for example, a data connectorport, to facilitate the customization of the operating programs oralgorithms. Alternatively or additionally, the operating programs oralgorithms may be customized and preprogrammed into the memory unit 130remotely from the electro-mechanical surgical device 10. It should beappreciated that the serial number data 180 and/or usage data 184 mayalso be used to determine which of a plurality of operating programs oralgorithms is read or selected from the memory unit 130. It should beappreciated that the operating program or algorithm may alternatively bestored in the memory unit 174 of the surgical instrument or attachmentand transferred to the controller 122 via the data transfer cable 38.Once the appropriate operating program or algorithm is read or selectedby, or transmitted to, the controller 122, the controller 122 causes theoperating program or algorithm to be executed in accordance withoperations performed by the user via the wired RCU 150 and/or thewireless RCU 148. As indicated hereinabove, the controller 122 iselectrically and logically connected with the first, second, third,fourth and fifth motors 76, 80, 84, 90, 96 via respective lines 116,118, 124, 126, 128 and controls such motors 76, 80, 84, 90, 96 inaccordance with the read, selected or transmitted operating program oralgorithm via the respective lines 116, 118, 124, 126, 128.

Referring now to FIG. 14, there is seen a schematic view of a wirelessRCU 148. The wireless RCU 148 includes a steering controller 300 havinga plurality of switches 302, 304, 306, 308 arranged under a four-wayrocker 310. The operation of the switches 302, 304, via the rocker 310,controls the operation of the first and second steering cables 34, 35via the third motor 84. Similarly, the operation of the switches 306,308, via the rocker 310, controls the operation of the third and fourthsteering cables 36, 37 via the fourth motor 92. It should be appreciatedthat the rocker 310 and the switches 302, 304, 306, 308 are arranged sothat the operation of the switches 302, 304 steers the flexible shaft 20in the north-south direction and that the operation of the switches 306,308 steers the flexible shaft 20 in the east-west direction. Referenceherein to north, south, east and west is made to a relative coordinatesystem. Alternatively, a digital joystick, analog joystick, etc. may beprovided in place of the rocker 310 and the switches 302, 304, 306, 308.Potentiometers or any other type of actuator may also be used in placeof the switches 302, 304, 306, 308.

The wireless RCU 148 further includes a steering engage/disengage switch312, the operation of which controls the operation of the fifth motor 96to selectively engage and disengage the steering mechanism. The wirelessRCU 148 also includes a two-way rocker 314 having first and secondswitches 316, 318 operable thereby. The operation of these switches 316,318 controls certain functions of the electromechanical surgical device10 and any surgical instrument or attachment attached to the flexibleshaft 20 in accordance with the operating program or algorithmcorresponding to the attached surgical instrument or attachment, if any.For example, where the surgical instrument is a circular surgicalstapler attachment, operation of the two-way rocker 314 may control theadvancement and retraction of an anvil. The wireless RCU 148 is providedwith yet another switch 320, the operation of which may further controlthe operation of the electromechanical surgical device 10 and anysurgical instrument or attachment attached to the flexible shaft 20 inaccordance with the operating program or algorithm corresponding to theattached surgical instrument or attachment, if any. For example, whenthe circular surgical stapler attachment is attached to the flexibleshaft 20, operation of the switch 320 initiates the advancement, orfiring sequence, of the staple driver/cutter.

The wireless RCU 148 includes a controller 322, which is electricallyand logically connected with the switches 302, 304, 306, 308 via line324, with the switches 316, 318 via line 326, with the switch 312 vialine 328 and with the switch 320 via line 330. The wireless RCU 148 mayinclude indicators 18 a′, 18 b′, corresponding to the indicators 18 a,18 b of front panel 15, and a display device 16′, corresponding to thedisplay device 16 of the front panel 15. If provided, the indicators 18a′, 18 b′ are electrically and logically connected to the controller 322via respective lines 332, 334, and the display device 16′ iselectrically and logically connected to the controller 322 via the line336. The controller 322 is electrically and logically connected to atransceiver 338 via line 340, and the transceiver 338 is electricallyand logically connected to a receiver/transmitter 342 via line 344. Apower supply, not shown, for example, a battery, may be provided in thewireless RCU 148 to power the same. Thus, the wireless RCU 148 may beused to control the operation of the electromechanical surgical device10 and any surgical instrument or attachment attached to the flexibleshaft 20 via a wireless link 160.

The wireless RCU 148 may include a switch 346 connected to thecontroller 322 via line 348. Operation of the switch 346 transmits adata signal to the transmitter/receiver 146 via the wireless link 160.The data signal includes identification data uniquely identifying thewireless RCU 148. This identification data is used by the controller 122to prevent unauthorized operation of the electromechanical surgicaldevice 10 and to prevent interference with the operation of theelectromechanical surgical device 10 by another wireless RCU. Eachsubsequent communication between the wireless RCU 148 and theelectromechanical device surgical 10 may include the identificationdata. Thus, the controller 122 can discriminate between wireless RCUsand thereby allow only a single, identifiable wireless RCU 148 tocontrol the operation of the electromechanical surgical device 10 andany surgical instrument or attachment attached to the flexible shaft 20.

Based on the positions of the components of the surgical instrument orattachment attached to the flexible shaft 20, as determined inaccordance with the output signals from the quadrature rings 2080, thecontroller 122 may selectively enable or disable the functions of theelectromechanical surgical device 10 as defined by the operating programor algorithm corresponding to the attached surgical instrument orattachment. For example, where the surgical instrument or attachment isa circular surgical stapler attachment, the firing function controlledby the operation of the switch 320 may be disabled unless the space orgap between an anvil and a body portion is determined to be within anacceptable range. The space or gap between the anvil and the bodyportion is determined based on the output signal from the quadraturerings 2080, as more fully described hereinabove. It should beappreciated that the switch 320 itself remains operable but that thecontroller 122 does not effect the corresponding function unless thespace or gap is determined to be within the acceptable range. Also, thefiring function controlled by the operation of the switch 320 may bedisabled if moisture is detected within the flexible shaft 20 by themoisture sensor 990.

Referring now to FIG. 15, there is seen a schematic view of a wired RCU150. In the example embodiment, the wired RCU 150 includes substantiallythe same control elements as the wireless RCU 148 and furtherdescription of such elements is omitted. Like elements are noted in FIG.15 with an accompanying prime. It should be appreciated that thefunctions of the electromechanical surgical device 10 and any surgicalinstrument or attachment attached to the flexible shaft 20 may becontrolled by the wired RCU 150 and/or by the wireless RCU 148. In theevent of a battery failure, for example, in the wireless RCU 148, thewired RCU 150 may be used to control the functions of theelectromechanical surgical device 10 and any surgical instrument orattachment attached to the flexible shaft 20.

As described hereinabove, the front panel 15 of the housing 14 includesthe display device 16 and the indicators 18 a, 18 b. The display device16 may include an alpha-numeric display device, such as an LCD displaydevice. The display device 16 may also include an audio output device,such as a speaker, a buzzer, etc. The display device 16 is operated andcontrolled by the controller 122 in accordance with the operatingprogram or algorithm corresponding to a surgical instrument orattachment, if any, attached to the flexible shaft 20. If no surgicalinstrument or attachment is so attached, a default operating program oralgorithm may be read or selected by, or transmitted to, the controller122 to thereby control the operation of the display device 16 as well asthe other aspects and functions of the electromechanical surgical device10. If a circular surgical stapler attachment is attached to flexibleshaft 20, the display device 16 may display, for example, dataindicative of the gap between the anvil and the body portion asdetermined in accordance with the output signal of quadrature rings2080, as more fully described hereinabove.

Similarly, the indicators 18 a, 18 b are operated and controlled by thecontroller 122 in accordance with the operating program or algorithmcorresponding to the surgical instrument or attachment, if any, attachedto the flexible shaft 20. The indicator 18 a and/or the indicator 18 bmay include an audio output device, such as a speaker, a buzzer, etc.,and/or a visual indicator device, such as an LED, a lamp, a light, etc.If a circular surgical stapler attachment is attached to the flexibleshaft 20, the indicator 18 a may indicate, for example, that theelectromechanical surgical device 10 is in a power ON state, and theindicator 18 b may, for example, indicate whether the gap between theanvil and the body portion is determined to be within the acceptablerange as more fully described hereinabove. It should be appreciated thatalthough only two indicators 18 a, 18 b are described, any number ofadditional indicators may be provided as necessary. Additionally, itshould be appreciated that although a single display device 16 isdescribed, any number of additional display devices may be provided asnecessary.

The display device 16′ and the indicators 18 a′, 18 b′ of the wirelessRCU 150 and the display device 16″ and the indicators 18 a″, 18 b″ ofthe wired RCU 148 are similarly operated and controlled by therespective controller 322, 322′ in accordance with the operating programor algorithm corresponding to the surgical instrument or attachment, ifany, attached to the flexible shaft 20.

What is claimed is:
 1. A shaft, comprising: an elongated outer sheathhaving proximal and distal ends; a plurality of rotatable drive shaftsdisposed within the elongated outer sheath, each of the plurality ofrotatable drive shafts configured to rotate at a selectable speedsetting and a selectable torque setting; a quadrature ring mounted on arotatable drive shaft of the plurality of rotatable drive shafts, thequadrature ring having two tabs extending radially from and configuredto rotate with the rotatable drive shaft of the plurality of rotatabledrive shafts; and two phototransistors of the quadrature ring mountedproximal to the two tabs of the quadrature ring and within the elongatedouter sheath arranged approximately 90 degrees from each other relativeto an axis of the rotatable drive shaft of the plurality of rotatabledrive shafts and a plurality of light sources mounted distal to the twotabs and within the elongated outer sheath, wherein, upon rotation ofthe rotatable drive shaft of the plurality of rotatable drive shafts,the two tabs alternately block and allow light from each of theplurality of light sources to be detected by the two phototransistors topermit the quadrature ring to determine angular position and rotationaldirection of the rotatable drive shaft of the plurality of rotatabledrive shafts based on one-quarter-revolution increments; wherein thequadrature ring is disposed within a coupling configured to attach to asurgical attachment having an anvil and a staple driver; and wherein theangular position and rotational direction determined by the quadraturering are used to determine a relative displacement of the anvil withrespect to the staple driver.
 2. The shaft according to claim 1, whereineach of the plurality of light sources is mounted at a distal end of theshaft.
 3. The shaft according to claim 1, wherein the shaft is flexible.4. The shaft according to claim 1, wherein the shaft is rigid.
 5. Theshaft according to claim 1, wherein the shaft is articulatable.
 6. Theshaft according to claim 4, wherein the shaft is articulatable.
 7. Theshaft according to claim 1, wherein each of the plurality of lightsources is a light-emitting diode.
 8. The shaft according to claim 1,wherein the elongated outer sheath is autoclavable.
 9. The shaftaccording to claim 1, wherein the elongated outer sheath includes atleast one of a fluoropolymer material or a silicone material.
 10. Theshaft according to claim 1, further comprising at least one fiber opticcable for transmitting light from each of the plurality of lightsources.
 11. The shaft according to claim 10, wherein the two tabs andthe plurality of light sources are configured such that lighttransmitted from each of the plurality of light sources is interpretableby a controller in order to determine the rotation of the rotatabledrive shaft of the plurality of rotatable drive shafts.
 12. The shaftaccording to claim 11, wherein the controller is disposed within aremote power console.
 13. The shaft according to claim 12, furthercomprising: a first coupling at a proximal end of the shaft, the firstcoupling being configured to detachably couple the shaft to the remotepower console.
 14. The shaft according to claim 12, further comprising:a second coupling connected to the distal end of the elongated outersheath configured to detachably couple to a surgical attachment.
 15. Theshaft according to claim 13, wherein the controller is configured todetermine a position of a component of the surgical attachment basedupon an interpretation of the transmitted light.
 16. The shaft accordingto claim 1, further comprising: a moisture sensor disposed within theelongated outer sheath configured to detect moisture within theelongated outer sheath.
 17. The shaft according to claim 1, furthercomprising: a memory unit disposed in the shaft.
 18. The shaft accordingto claim 17, wherein the memory unit stores data including at least oneof serial number data, identification data and usage data.
 19. The shaftaccording to claim 18, further comprising: a data transfer cabledisposed within the shaft, wherein the memory unit is logically andelectrically connected to the data transfer cable.